使用move_base导航 地图加载偏移

[追逐我的明天]

ubuntu2004+ROS Noetic
求助：gmapping建图后使用movebase导航，加载地图时整体地图发生偏移（图中没开激光雷达）。

movebase直接移植的开源包，tf_tree没有问题。
[ WARN] [1674890883.810470182]: Using deprecated map server interface. Please switch to new interface.
[ WARN] [1674890885.333145954]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1674890885.382116964]: global_costmap: Using plugin "static_layer"
[ INFO] [1674890885.404428357]: Requesting the map...
[ INFO] [1674890885.614653929]: Resizing costmap to 1120 X 1056 at 0.025000 m/pix
[ INFO] [1674890885.711666042]: Received a 1120 X 1056 map at 0.025000 m/pix
[ INFO] [1674890885.724882480]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1674890885.735170558]: Subscribed to Topics: scan
[ INFO] [1674890885.784227516]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1674890885.938028227]: Map update loop missed its desired rate of 15.0000Hz... the loop actually took 0.0702 seconds
[ WARN] [1674890885.938843818]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1674890885.981046736]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1674890885.989153352]: Subscribed to Topics: scan
[ INFO] [1674890886.033495043]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1674890886.152708856]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1674890886.180344821]: Sim period is set to 0.05
[ WARN] [1674890886.205214696]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settings robust against changes of costmap resolution.
[ INFO] [1674890886.474983374]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1674890886.500605534]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1674890886.630005796]: odom received!

[追逐我的明天]

@追逐我的明天 应该是AMCL发布map与odom tf的问题

[小鱼]

@追逐我的明天 把tf贴出来